Valdir Grassi

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We describe the development and assessment of a computer controlled wheelchair called the SMARTCHAIR. A shared control framework with different levels of autonomy allows the human operator to stay in complete control of the chair at each level while ensuring her safety. The framework incorporates deliberative motion plans or controllers, reactive behaviors,(More)
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This paper presents the development of two outdoor intelligent vehicles platforms named CaRINA I and CaRINA II, their system architecture, simulation tools, and control modules. It also describes the development of the intelligent control system modules allowing the mobile robots and vehicles to navigate autonomously in controlled urban environments.(More)
— Robust and stable control is a requirement for navigation of self-driving cars. Some approaches in the literature depend on a high number of parameters that are often difficult to estimate. A poor selection of these parameters often reduces considerably the efficiency of the control algorithms. In this paper we propose a simplified control system for(More)
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